Originally posted by Docfeelgood
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Edit: I should add that those are not the costs of the mission per year, but their total costs thus far compared to the annual budget. Given that Spirit and Opportunity have been running for 8 years, you could say that their cost per year is .0038% of the annual budget.
However, Curiosity's construction also began in 2004, so you could say that its cost per year so far has been .0088% of the annual budget.
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